name: ros2

on:
  push:
    branches: [ ros2 ]
  pull_request:
    branches: [ ros2 ]

env:
  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
  BUILD_TYPE: Release

jobs:
  build:
    # The CMake configure and build commands are platform agnostic and should work equally
    # well on Windows or Mac.  You can convert this to a matrix build if you need
    # cross-platform coverage.
    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
    name: Build on ros2 ${{ matrix.ros_distro }}
    runs-on: ubuntu-20.04
    strategy:
      matrix:
        ros_distro: [foxy, galactic]

    steps:   
    - uses: ros-tooling/setup-ros@v0.2
      with:
        required-ros-distributions: ${{ matrix.ros_distro }}
    
    - name: Install dependencies
      run: |
        sudo apt-get update
        sudo apt-get -y install ros-${{ matrix.ros_distro }}-rtabmap
        sudo apt-get -y remove ros-${{ matrix.ros_distro }}-rtabmap
                
    - name: Setup ros2 workspace
      run: | 
        source /opt/ros/${{ matrix.ros_distro }}/setup.bash
        mkdir -p ${{github.workspace}}/ros2_ws/src
        cd ${{github.workspace}}/ros2_ws
        colcon build
        
    - uses: actions/checkout@v2
      with:
        repository: 'introlab/rtabmap'
        path: 'ros2_ws/src/rtabmap'
        
    - uses: actions/checkout@v2
      with:
        path: 'ros2_ws/src/rtabmap_ros'
        
    - name: colcon build
      run: |
        source /opt/ros/${{ matrix.ros_distro }}/setup.bash
        cd ${{github.workspace}}/ros2_ws
        colcon build --event-handlers console_direct+